Safety parameters Designation Encoder parameters
p9319/p9519 SI Motion fine resolution G1_XIST1 p0418
p9320/p9520 SI Motion leadscrew pitch Encoder parameterizing
screen form
p9321/p9521 SI Motion gearbox encoder Encoder parameterizing
screen form
p9322/p9522 SI Motion gearbox encoder Encoder parameterizing
screen form
p9323/p9523 Redundant coarse position value valid bits r0470
p9324/p9524 Redundant coarse position value fine resolution
bits
r0471
p9325/p9525 Redundant coarse position value relevant bits r0472
p9326/p9526 SI Motion encoder assignment Encoder parameterizing
screen form
p9328/p9528 SI Motion Sensor Module node identifier
p9329/p9529 Gx_XIST1 coarse position safety most significant
bit
p0415 = r0470 – r0471
Encoder types for single and 2-encoder systems
Incremental encoders or absolute encoders can be used for safe acquisition of the position
values on a drive.
The absolute position values can be transferred via the serial EnDat interface or an SSI
interface to the controller. However, these are not evaluated by the safety functions.
In systems with encoders with SINAMICS Safety Integrated (single and 2-encoder systems),
the following encoders are permitted for safe actual value acquisition:
● Encoders with sin/cos 1 Vpp signals
– Single and 2-encoder systems
– Connected to the SINAMICS SME20/25, SME120/125 and SMC20 Sensor Modules
– The encoders must contain purely analog signal processing and creation. This is
necessary to be able to prevent the A/B track signals with valid levels from becoming
static ("freezing").
● HTL/TTL encoders
– Can only be used for 2-encoder systems. In this case, one encoder must be an HTL/TTL
encoder. The other encoder can be a sin/cos encoder or an HTL/TTL encoder.
– Connected to an SMC30 Sensor Module Cabinet or SINAMICS S120 Combi.
– It is not permissible that an HTL/TTL encoder connected to SINAMICS S120 Combi is
operated as the first encoder.
– Note the lowest possible velocity resolution (r9732[1]) for an HTL/TTL encoder system.
Safety functions integrated in the drive
4.19 Safe actual value acquisition
Safety Integrated (with SINAMICS S120)
194 Commissioning Manual, 02/2020, A5E46305916B AB
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